CN103308024B - A flexible joint angle sensor - Google Patents

Abstract

A flexible joint angle sensor relates to a joint angle sensor and aims to solve the problem that detection errors are large in the two methods of inertial sensor detection and video detection in the existing human body posture measurement means. The flexible corrugated pipe upper end is connected with solid fixed ring, the lower extreme is connected with lower fixed block, every crest department on the flexible corrugated pipe is equipped with three copper wire slip track along the circumference equipartition, copper wire slip track on the crest of flexible corrugated pipe along length direction is upper and lower one-to-one just to setting up, gu fixed ring is hollow structure, gu fixed ring up end center department is equipped with the centre bore, gu fixed ring's lower terminal surface is equipped with three last through-hole, be equipped with three lower through-hole on the fixed block down, the copper wire bundle that three copper wires are constituteed sets up in the centre bore, the fixed block is passed to the upper end of steel wire bundle, the lower extreme of three copper wires is worn out from three last through-hole respectively, respectively. The invention is used for measuring the posture of the organism.

Description

A flexible joint angle sensor

technical field

The invention relates to an attitude detection sensor, in particular to a flexible joint angle sensor.

Background technique

The existing methods of measuring human body posture usually adopt the methods of inertial sensor detection and video detection. Inertial devices all use several acceleration sensors and gyroscopes to measure joint angles, and the measurement system and data processing are relatively complicated. Its long-term detection will cause large cumulative errors and reduce measurement accuracy; it is not suitable for attitude detection in dynamic environments (such as driving cars, airplanes), and any dynamic changes in the external environment will cause obvious parameter distortion and are not applicable Measured at rest. This method is mainly aimed at short-term continuous motion measurement in a static environment. At this stage, the accuracy of anthropometric measurements is about 2-3 degrees. The 3D motion data captured by video detection needs to be post-processed by computer 3D reconstruction and other technologies. Video detection has high requirements for lighting and background. Some parts and links of the human body are not very obvious, and mutual occlusion will cause errors in the results. Due to the limited video capture space, this method is mainly used in laboratory measurements, and is suitable for testing walking, running, jumping and other sports with a small range of activities. It is not suitable for attitude measurement in real environment, long time and long distance. Compared with video detection and inertial device detection methods, the use of electronic protractors is a relatively traditional measurement method, mainly used for static modeling and key frame capture. The measurement system developed based on this principle is easy to operate and can provide timely data, but the joint posture of the subject is bound by the devices installed on the body, which affects the accuracy of the measurement results.

Contents of the invention

The purpose of the present invention is to solve the problems that the existing methods of measuring human body posture usually adopt inertial sensor detection and video detection. These two methods have the problems of complex system, large detection error and limited application environment, and provide a flexible joint angle sensor.

The invention comprises a flexible bellows, an upper fixing block, a fixing ring, a lower fixing block, a displacement sensor, three steel wires and three steel wire sliding tracks, the upper end of the flexible bellows is connected with the fixing ring, and the lower end of the flexible bellows is connected with the lower fixing block Connection, each crest on the outer surface of the flexible bellows is equipped with three steel wire sliding tracks along the circumference, the steel wire sliding tracks on the crests of the flexible bellows along the length direction are set up and down one by one, and the fixing ring is hollow Structure, the center of the upper end surface of the fixed ring is provided with a central hole, the lower end surface of the fixed ring is provided with three upper through holes, the lower fixed block is provided with three lower through holes, and the steel wire harness composed of three steel wires is arranged in the central hole. The upper end of the steel wiring harness passes through the upper fixing block, and the lower ends of the three steel wires respectively pass through the three upper through holes, respectively pass through the three steel wire sliding tracks, and pass through the three lower through holes respectively to be connected with the displacement sensor.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention uses a flexible corrugated tube as the structural main body, and the two ends are fixed on both sides of the object to be detected, so that the joints to be tested will not be constrained in motion, and the range of motion and flexibility of the joints will not be affected. The invention uses a single sensor structure to realize simultaneous measurement of multiple joint degrees of freedom with different characteristics and mutual coupling, and has the characteristics of simple and compact structure and multi-functionality. Compared with inertial sensors and video detection methods, the invention is more suitable for joint angle detection in static and dynamic module environments, suitable for long-time and long-distance posture detection, and has high measurement accuracy (up to 1 degree). 2. It has the characteristics of unrestricted and compact structure, and can realize the separation of multiple degrees of freedom with different characteristics and mutual coupling, and convert them into linear displacements that are easy to measure. 3. The structure of the present invention can adapt to a wide range of motion with multiple degrees of freedom, and has a wide range of applications.

Description of drawings

Fig. 1 is a front view of the overall structure of the present invention, Fig. 2 is a sectional view of A-A of Fig. 1, Fig. 3 is a schematic diagram of the connection relationship between three steel wires 3 and an upper fixed block 4 and a fixed ring 5, Fig. 4 is a sectional view of B-B of Fig. 3, Fig. 5 is a structural cross-sectional view of the lower fixing block 6, Fig. 6 is a top view of Fig. 5, and Fig. 7 is a schematic diagram of the position of the present invention installed on the joint to be measured (the mark 10 is the joint, and the mark 12 is the skin).

detailed description

Specific Embodiment 1: This embodiment is described with reference to FIGS. 1 to 6. This embodiment includes a flexible bellows 1, an upper fixing block 4, a fixing ring 5, a lower fixing block 6, a displacement sensor 7, three steel wires 3 and three steel wires. The upper end of the flexible bellows 1 is connected to the fixed ring 5, the lower end of the flexible bellows 1 is connected to the lower fixing block 6, and each crest on the outer surface of the flexible bellows 1 is evenly distributed along the circumference. The track 2, the steel wire sliding track 2 on the crest of the flexible corrugated pipe 1 along the length direction is set up and down one by one, the fixed ring 5 is a hollow structure, and the center of the upper end surface of the fixed ring 5 is provided with a central hole 11, the fixed ring The lower end surface of the 5 is provided with three upper through holes 8, and the lower fixing block 6 is provided with three lower through holes 9, and the steel wire harness 13 composed of three steel wires 3 is arranged in the central hole 11, and the upper end of the steel wire harness 13 passes through the upper fixed Block 4, the lower ends of the three steel wires 3 pass through three upper through holes 8 respectively, pass through three steel wire sliding tracks respectively, and then pass through three lower through holes 9 to be connected with the displacement sensor 7. The flexible bellows 1 is designed to imitate human skin folds, and has the characteristics that the radius of the outer section does not change when it is bent, and the hose is easy to bend and not easy to twist. The steel wire 3 can slide freely in the steel wire sliding track 2, and the steel wire sliding track 2 plays a role of constraining the running track of the steel wire 3. The three lower through holes 9 on the lower fixing block 6 are used to restrict the operation of the steel wire 3 . The fixed block 4 can pull the wiring harness to move.

Specific Embodiment 2: This embodiment is described with reference to FIG. 2 . The three upper through holes 8 on the fixing ring 5 of this embodiment are evenly distributed along the circumference. Design like this to make three steel wires 3 stressed evenly. Other components and connections are the same as those in the first embodiment.

Specific Embodiment 3: This embodiment is described with reference to FIG. 3 , FIG. 4 , FIG. 5 , and FIG. 6 . The three lower through-holes 9 and the three upper through-holes 8 of this embodiment are arranged to face each other one by one. This design is convenient for the steel wires 3 to pass through, so that the three steel wires 3 are evenly stressed. Other components and connections are the same as those in the second embodiment.

Embodiment 4: This embodiment is described with reference to FIGS. 1 to 4 . The three upper through holes 8 of this embodiment are arranged opposite to the three steel wire slide rails 2 on the same section. This design is convenient for the steel wires 3 to pass through, so that the three steel wires 3 are evenly stressed. Other compositions and connections are the same as those in the first, second or third embodiment.

Embodiment 5: This embodiment is described with reference to FIG. 1 , FIG. 3 , and FIG. 4 . The material of the fixing ring 5 in this embodiment is hard plastic. This material can ensure that the outer section radius of the flexible bellows 1 remains unchanged at the end. Other compositions and connections are the same as those in Embodiment 4.

Embodiment 6: This embodiment is described with reference to FIG. 1 , FIG. 5 , and FIG. 6 . The material of the lower fixing block 6 in this embodiment is hard plastic. This material can ensure that the outer section radius of the flexible bellows 1 remains unchanged at the end. The other components and connections are the same as those in Embodiment 1, 2, 3 or 5.

Embodiment 7: This embodiment is described with reference to FIG. 1 . The upper fixing block 4 of this embodiment is connected to the fixing ring 5 through bolts. When the upper fixing block 4 is connected with the fixing ring 5, the fixing ring 5 and the lower fixing block 6 are installed at both ends of the joint to be tested, so as to realize the separation and detection of the two degrees of freedom of the orientation angle and the bending angle. Other components and connections are the same as those in the first embodiment.

Embodiment 8: This embodiment will be described with reference to FIG. 1 and FIG. 7 . In this embodiment, the upper fixing block 4 and the fixing ring 5 are arranged separately. When the upper fixed block 4 is separated from the fixed ring 5, the fixed ring 5 and the lower fixed block 6 are installed at both ends of the joint to be tested, and the upper fixed block 4 pulls the steel wire harness 13 and installs it on a specific position of the test object, and the change of the third degree of freedom will cause The upper fixed block 4 indexes the steel wire harness 13, causing the three steel wires 3 to produce linear displacements of the same size. Other components and connections are the same as those in the first embodiment.

Ninth specific embodiment: This embodiment is described with reference to FIG. 2 . In this embodiment, three steel wire sliding rails 2 on the same section form an included angle of 120°. Design like this to make three steel wires 3 stressed evenly. Other compositions and connection relations are the same as those in Embodiment 1, 2, 3, 5 or 7.

Embodiment 10: This embodiment is described with reference to FIG. 2 . The three upper through holes 8 of this embodiment form an included angle of 120°. Design like this to make three steel wires 3 stressed evenly. Other compositions and connections are the same as those in Embodiment 6.

Claims (10)

1. a flexible joint angle sensor, it is characterized in that: described sensor comprises flexible bellow (1), upper fixed block (4), set collar (5), lower fixed block (6), displacement transducer (7), three steel wires (3) and three steel wire sliding rails, the upper end of flexible bellow (1) is connected with set collar (5), the lower end of flexible bellow (1) is connected with lower fixed block (6), each crest place on flexible bellow (1) outside surface is uniformly distributed along the circumference and is provided with three steel wire sliding rails (2), steel wire sliding rail (2) on flexible bellow (1) crest is along its length up and down one by one just to setting, set collar (5) is hollow structure, the center, upper surface of set collar (5) is provided with center pit (11), the lower surface of set collar (5) is provided with three upper through holes (8), lower fixed block (6) is provided with three lower through-holes (9), the steel wire bundle (13) that three steel wires (3) form is arranged in center pit (11), the upper end of steel wire bundle (13) is through upper fixed block (4), the lower end of three steel wires (3) passes from through hole (8) three respectively, respectively through three steel wire sliding rails, be connected with displacement transducer (7) after three lower through-holes (9) pass respectively again.

2. a kind of flexible joint angle sensor according to claim 1, is characterized in that: three on set collar (5) upper through holes (8) are uniformly distributed along the circumference setting.

3. a kind of flexible joint angle sensor according to claim 2, is characterized in that: described three lower through-holes (9) and three upper through holes (8) are one by one just to setting.

4. a kind of flexible joint angle sensor according to claim 1,2 or 3, is characterized in that: three upper through holes (8) with the steel wire sliding rail (2) of three on cross section one by one just to setting.

5. a kind of flexible joint angle sensor according to claim 4, is characterized in that: the material of described set collar (5) is rigid plastic.

6. a kind of flexible joint angle sensor according to claim 1,2,3 or 5, is characterized in that: the material of described lower fixed block (6) is rigid plastic.

7. a kind of flexible joint angle sensor according to claim 6, is characterized in that: fixed piece (4) are connected with set collar (5) by bolt.

8. a kind of flexible joint angle sensor according to claim 1, is characterized in that: fixed piece (4) are separated with set collar (5) and arrange.

9. a kind of flexible joint angle sensor according to claim 1,2,3,5 or 7, is characterized in that: in 120 ° of angles between three steel wire sliding rails (2) on same cross section.

10. a kind of flexible joint angle sensor according to claim 9, is characterized in that: in 120 ° of angles between three upper through holes (8).